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ChoreoLib

Vendordep URL

https://choreo.autos/lib/ChoreoLib2027Alpha.json

Changelog

2027.0.0-alpha-1

The first release of 2027 Choreo is just ChoreoLib 2025.0.3 (latest stable 2025 version) compiled for the SystemCore. It is compatible with Choreo GUI 2025.0.3. Minimal internal changes were necessary, most significantly the usage reporting.

2027.0.0-alpha-3

This release is just ChoreoLib 2026.0.3 (latest stable 2026 version) compiled for the SystemCore. It is compatible with Choreo 2026 projects, but needs Choreo GUI 2027.0.0-alpha-3, which produces WPILib 2027 compatible generated Java code.

Usage of existing API is the same.

  • The sample classes have getChassisSpeeds still, despite the rename of ChassisSpeeds to ChassisVelocities.
  • AutoChooser is now published with Tunables.publish("chooser", chooser); and will show up as /Tunables/chooser on NetworkTables.

Opmode Usage (Java)

A helper has been added for that single opmode which just runs the AutoChooser selection. Example code (make sure your Robot class extends OpModeRobot)

import choreo.auto.AutoChooserOpMode;.
//...
    Tunables.publish("chooser", autoChooser);
    autoChooser.addRoutine("MyAuto", ()->{
      var routine = autoFactory.newRoutine("myroutinename");
      //...whatever setup
      return routine;
    });
    addOpMode( RobotMode.AUTONOMOUS, "RunAutoChooser", ()->new AutoChooserOpMode(autoChooser));
    publishOpModes();

Note that the AutoChooser object will exist for the lifetime of the robot. The AutoChooserOpMode object is constructed when the option is selected.